make pcl_visualizer.addCoordinateSystem(1.0) compile again

With the new id-versions of {add,remove}CoordinateSystem it became ambiguous
which function should be called by
`pcl_visualizer.addCoordinateSystem(1.0)` because all of these functions 
support default parameters for most arguments (including the id).

This commit removes the default parameter for viewport in all deprecated 
function definitions and therefore makes sure addCoordinateSystem(1.0) can
only refer to the modern function definition.